Research On The Technology Of Biaxial Synchro-control

Biaxial synchro-control is an important function of modern high-performance NC system for driving and controlling of the machine-beam, such as the beam of gantry milling machine controlling its beam up and down, and the gantry frame of traveling machine moving its framing. This thesis designs an experimental platform of biaxial synchro-control based on domestic NC system, servo-driven and actuating motor. Experiments have been designed and carried out on this platform and the technology of biaxial synchro-control is studied.A hardware platform for synchro experiment and a high-speed cross table are designed, which is composed of HNC-22MF NC system and companion servo-drive and motor, magnetic powder brake, PCI card. The subjacent slider of the high-speed cross table is driven by double-shaft, and its speed can reach 40m/min. Moreover, corresponding software platform of biaxial synchro-control is developed based on Linux+ RTAI.The hardware synchronous control method based on synchronizers and synchronization control card, and the software synchronous control method based on the Huazhong NC system with separated driving shaft and driving shaft are studied respectively. And the matching issues between CNC and servo-dirven interface are pointed out for the method of hardware synchro-control. A software approach of synchro-control is proposed when hardware is unavailable.Focused on the problems of synchro compensation in the method of software, the algorithms of synchronous control are studied. A synchronous compensation algorithm based on the common PID algorithm and the extrapolation is proposed in this thesis. By using this algorithm, the synchro boundary values can be set stage by stage according to the state of double-shaft.Finally, based on the structure of the software and hardware platforms, the experiment schemes are designed to obtain the signal of the output of CNC and encoder feedback and the experiment validation of the proposed compensation algorithm is performed in this thesis. According to the analytical comparison between the biaxial signals of encoder feedback, the twin-shaft synchronization error using PID compensation algorithm has decreased by three pulses compared with that without compensation, which indicates a good compensation effect.